Commit 85560838 authored by Jayant Khatkar's avatar Jayant Khatkar

dry run working

parent adfe9006
......@@ -4,7 +4,7 @@ Take a standard gcode file and print it using only 1 arm.
Includes the following important components:
- connecting with single arm through ros
- calibration: todo
- calibration: done
- connecting with extruder through ros: todo
- printing the whole thing: todo
......@@ -45,10 +45,10 @@ launch ur5_e_moveit_config ur5_e_moveit_planning_execution.launch
roslaunch ur5_e_moveit_config moveit_rviz.launch config:=true
```
3. Run the controller file.
3. Run the main code.
```bash
ipython -i controller.py
ipython -i main.py
```
#### How to Run in Simulation
......@@ -57,6 +57,11 @@ ipython -i controller.py
```bash
# Launch simulated ur5e with moveit and visualisation
# TODO: change topic names of simulated to be same as real
launch ur5_e_moveit_config ur5_e_moveit_planning_execution.launch
```
2. Run the main code.
```bash
ipython -i main.py
```
......@@ -22,13 +22,8 @@ if __name__ == "__main__":
# Calibrate system
con.calibrate(CalibrationType.centre)
# convert (a) contour to arm trajectory
traj = con.contour2traj(contours[0])
# Execute trajectory
con.move_to(traj.points[0].positions)
con.exec_traj(traj)
# move to next trajectory
t2 = con.contour2traj(contours[98])
con.move_to_next_contour(t2)
# Plan and execute (planning is slow because ik calculation rosservice used)
for i in range(10): #only do first 10 contours
t = con.contour2traj(contours[i])
con.move_to_next_contour(t)
con.exec_traj(t)
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment